A2DP: Initialize the UIPC HAL only when those binderized HALs are not enabled

When using BluetoothA2dp / BluetoothAudio HAL, the UIPC won't be used,
and is no need to do the initialization. If it is up, there will be an
uipc-main thread running, and we have to release by the UIPC_Close API
before the A2DP source restarting. If we are acquiring a new one before
released, some of its resource will be leaked, and causes the stack
abnormal.

Bug: 128256722
Test: Check uipc-main is running when using the legacy HAL only
Change-Id: Icc8ea102d29c92b58c77099979d17e85e5cb9a83